WO2016058578A1 - Bloc pour la fabrication de structures élastiques - Google Patents

Bloc pour la fabrication de structures élastiques Download PDF

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Publication number
WO2016058578A1
WO2016058578A1 PCT/DE2015/000501 DE2015000501W WO2016058578A1 WO 2016058578 A1 WO2016058578 A1 WO 2016058578A1 DE 2015000501 W DE2015000501 W DE 2015000501W WO 2016058578 A1 WO2016058578 A1 WO 2016058578A1
Authority
WO
WIPO (PCT)
Prior art keywords
building block
game
torsion
chain line
toy building
Prior art date
Application number
PCT/DE2015/000501
Other languages
German (de)
English (en)
Inventor
Marcel Pasternak
Original Assignee
Marcel Pasternak
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102014014891.2A external-priority patent/DE102014014891A1/de
Priority claimed from DE202014008653.2U external-priority patent/DE202014008653U1/de
Priority to CN201580055677.8A priority Critical patent/CN106999787B/zh
Priority to DK15813247.2T priority patent/DK3206770T3/da
Priority to KR1020197027266A priority patent/KR102332914B1/ko
Priority to KR1020177012973A priority patent/KR20170067883A/ko
Application filed by Marcel Pasternak filed Critical Marcel Pasternak
Priority to BR112017007553-9A priority patent/BR112017007553B1/pt
Priority to CA2964500A priority patent/CA2964500C/fr
Priority to EP15813247.2A priority patent/EP3206770B1/fr
Priority to US15/518,516 priority patent/US20170232356A1/en
Publication of WO2016058578A1 publication Critical patent/WO2016058578A1/fr
Priority to CL2017000943A priority patent/CL2017000943A1/es

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/04—Building blocks, strips, or similar building parts
    • A63H33/042—Mechanical, electrical, optical, pneumatic or hydraulic arrangements; Motors
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45D—HAIRDRESSING OR SHAVING EQUIPMENT; EQUIPMENT FOR COSMETICS OR COSMETIC TREATMENTS, e.g. FOR MANICURING OR PEDICURING
    • A45D8/00—Hair-holding devices; Accessories therefor
    • A45D8/34—Hair-braid holders; Hair-plait holders
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/04—Building blocks, strips, or similar building parts
    • A63H33/06—Building blocks, strips, or similar building parts to be assembled without the use of additional elements
    • A63H33/062—Building blocks, strips, or similar building parts to be assembled without the use of additional elements with clip or snap mechanisms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/04—Building blocks, strips, or similar building parts
    • A63H33/06—Building blocks, strips, or similar building parts to be assembled without the use of additional elements
    • A63H33/08—Building blocks, strips, or similar building parts to be assembled without the use of additional elements provided with complementary holes, grooves, or protuberances, e.g. dovetails
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/04—Building blocks, strips, or similar building parts
    • A63H33/10—Building blocks, strips, or similar building parts to be assembled by means of additional non-adhesive elements
    • A63H33/12—Perforated strips or the like assembled by rods, bolts, or the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F16B2/20—Clips, i.e. with gripping action effected solely by the inherent resistance to deformation of the material of the fastening
    • F16B2/22—Clips, i.e. with gripping action effected solely by the inherent resistance to deformation of the material of the fastening of resilient material, e.g. rubbery material
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains

Definitions

  • the invention relates to a toy building block for constructing an elastic structure, comprising a plurality of at least three successive chain link-like individual elements.
  • bionics For the construction of grippers and moving elements other basic elements are known from bionics as these are known from classical mechanics. Instead of mounted axes and rotatably mounted elements, it is known from the observation of nature to combine flexible and rigid elements in a special arrangement to transfer movements via joint-like structures similar to each other.
  • An example of this are raft-like or wing-like structures that respond to a shearing motion by a fin or wing deformation, which generate a change in flow due to the change in shape and thus counteract the shear force.
  • this technology is used for sailing ships in both underwater and in the upper waterway.
  • Fin Ray Principle ® is often used to indicate the general structural similarity of such bionic components.
  • Bionics in contrast to mechanics, is a comparatively young field of research and technology.
  • the object of the invention is therefore to provide a simple device as a play and study tool with which the principles of bionics can be easily built and studied.
  • connection between the individual elements has a lower restoring force with respect to a bending elasticity (with direction with respect to the shear modulus) than that Restoring force in terms of tensile elasticity (with direction in terms of Young's modulus).
  • a chain-like element as a toy building block has a lower restoring force with respect to a shear or bending stress than a tensile stress.
  • the essence of the toy building block is that it has a certain intrinsic stability, but nevertheless remains elastically deformable, wherein the elastic deformability is different pronounced in three mutually perpendicular directions.
  • a chain has three preferred directions. A collinear direction to the straight chain line and two directions perpendicular thereto.
  • a bending elasticity (with direction with respect to the shear modulus) of the toy building block is within a predetermined interval, so that the toy building block can be used with commercially available toys in order to build up, for example, bionic grippers.
  • the bending elasticity is pronounced to different degrees in the two directions perpendicular to the chain line. So there are three different elasticities in three different directions, so inevitably one of the elasticities with the highest restoring force pronounced and inevitably pronounced another elasticity with the lowest restoring force.
  • a tensile elasticity (with respect to the modulus of elasticity) of the toy building block is within a predetermined interval, so that the toy building block can be used with commercial toys, for example elastic joints in the manner of an elastic ankle build.
  • the individual members at least one Device, preferably has a recess for connection to another, rod-like rigid toy building block and / or another rigid axis.
  • the constructed according to the bionic principle fin or wing elements can also be used as gripping elements or as a lever mechanism.
  • rigid axles or rod-like, rigid elements are used as connecting elements, which become the game component presented here to a different directions in different spatial directions responsive to shearing motion structure allow.
  • the recess is profiled transversely to the axis of the recess in the game component in an advantageous manner.
  • the game component may have a simple recess in the form of a cylindrical bore. But it is also possible to provide a deviating from the cylindrical shape structure in the form of a regular or irregular polygonal structure, a slot structure or even a cross-shaped structure to transmit a torque safely in the game component or derive therefrom.
  • the distance between the individual elements is about the same size as the size of a single member, measured as the average diameter.
  • the individual members have a rigid center, and thus the toy building block has anisotropic material properties in relation to the elasticity.
  • This embodiment which is also included in the invention, is intended for such structures in which NEN a particularly strong torque to be exercised on the game component or derived from this.
  • Typical applications for this particular embodiment of the invention are structures in which an ankle structure or generally a structure is to be constructed in which the high energy of a train loaded toy block is to be translated into a torque, such as a force opening joint ,
  • the structure of the game component according to the invention may be very different depending on the preferred application.
  • a one-piece structure of a single material is provided, in which case the anisotropic material properties is determined by the structure and by the nature and shape of the recess in the individual members.
  • the toy building block can be produced by injection molding or cut from the solid material.
  • Another possibility of production consists in the structure by a 3D printing process. In order to control the elastic properties in the production by 3D printing, this is best achieved by a layered laying of an elastic filament or an elastic thread that is thermoplastically deformable or adhesive. To build base body are placed and then wrapped with a thread of identical material.
  • a multi-part mold in which the individual members consist of a bobbin-like element which is adjacent to other coil-like elements, wherein the individual coil-like elements are connected by a meandering winding.
  • the individual members consist of a bobbin-like element which is adjacent to other coil-like elements, wherein the individual coil-like elements are connected by a meandering winding.
  • the entirety of the individual links is cast in an elastomer, in silicone and / or an artificial or natural rubber.
  • the individual elements have a latching element, an elastic lip, a wedge shape and / or a thread via which the toy building element can be connected, preferably with a further, rigid toy building block ,
  • connection of two individual elements is fitted.
  • the elasticity can be controlled with respect to a shearing motion, the elasticity thus generated being superimposed on the elasticity by the nature of the laying pattern of the filament.
  • the toy building block has a tensile elasticity (modulus of elasticity) in the interval between 2 N / mm 2 (2 MPa) and 750 N / mm 2 (750 MPa), preferably a tensile elasticity (modulus of elasticity) between 4 N / mm 2 (4 MPa) and 250 N / mm 2 (250 MPa), particularly has a tensile elasticity (Young's modulus) between 5 N / mm 2 (5 MPa) and 50 N / mm 2 (50 MPa).
  • Play building blocks with this tensile elasticity have proved to be advantageous, elastic joints, heel joints ke, elastic wing joints or elastic rocking and bending constructions with commercial toys for children build.
  • Assign the play bricks on a tensile elasticity (modulus of elasticity) with a higher modulus of elasticity then the usual connection strengths or stabilities of play and study tools can no longer absorb the forces.
  • the constructed play and study tool would collapse under the residual stress. If, on the other hand, the material of the play module has too low a restoring force, even simple elastic joints would not be able to absorb the weight of a typical construction of a construction from a child's toy.
  • a play block having an average of about 22 mm 2 to 38 mm 2 cross-section shows a deflection of 3.6 cm with an earthly weight of 8 g, corresponding to about 0.08 N, with a length of the game module of 20 cm.
  • a play block having an average of about 22 mm 2 to 38 mm 2 cross-section shows a deflection of 0.9 cm with an earthly weight of 8 g, corresponding to about 0.08 N, with a length of the game module of 20 cm.
  • a play block having an average of approximately 22 mm 2 to 38 mm 2 cross-section shows a deflection of 1, 8 cm with an earthly weight of 9 g, corresponding to about 0.09 N, with a length of the game module of 20 cm.
  • a play block having an average of about 22 mm 2 to 38 mm 2 cross-section shows a deflection of 0.5 cm at an earth weight of 9 g, corresponding to about 0.09 N, with a length of the game module of 20 cm.
  • a play block with an average of about 22 mm 2 to 38 mm 2 cross-section shows a torque of 3 at torsion by 90 °, 5 g (about 0.035 N) with a lever of 10 cm and with a length of the torsion range of the toy building block of 20 cm.
  • a play block with an average of about 22 mm 2 to 38 mm 2 cross-section shows a torque of 14 g when twisted by 90 ° 0.14 N) with a lever of 10 cm and with a length of the torsion range of the toy building block of 20 cm.
  • the toy building block is suitable for use in toys for manual use and for use with toy-type, for example, battery-operated actuators and propulsion motors, which are equipped with at least one mono cell (D cell), baby cell (C cell). , Mignon cell (AA cell), mini cell (AAA cell), or at least a typical 9 V block (9V cell) are operated or operated with a transformer for children's toys or with solar cells for children's toys.
  • the torques of these motors must be capable of driving typical and toy-like structures.
  • FIG. 1 is a plan view of a game module according to the invention
  • FIG. 2 shows the game building block from FIG. 1 in a perspective view
  • FIG. 7 shows an enlarged detail to illustrate the internal structure options
  • 8 shows a representation of the bending in a first direction with a corresponding bending elasticity (shear modulus G ') in the y-direction
  • FIG. 8 shows a representation of the bending in a first direction with a corresponding bending elasticity (shear modulus G ') in the y-direction
  • FIG. 9 shows a representation of the bending in a first direction with a corresponding bending elasticity (shear modulus G) in the z-direction, FIG.
  • FIG. 10 shows a sketch for further clarification of the fin principle according to FIG. 3 in four successive deformation states
  • FIG. 11 shows a sketch for further clarification of the torsion of the toy building blocks
  • FIG. 12.1 shows an example of a concrete construction of a pincer-like fin gripper from toy building blocks in a state embracing a sensitive object
  • FIG. 12.2 shows an example of a concrete construction of a pincer-like fin gripper from toy building blocks in a state which loosely grips a sensitive object
  • FIG. 13 shows an example of a concrete construction of a threefold finned gripper from toy building blocks in a gripping state encompassing a sensitive object
  • FIG. 14 shows an example of a toy dragonfly with elastic wings made of the toy building blocks according to the invention
  • FIG. 15 shows an example of a toy fly with elastic wings made of the toy building blocks according to the invention
  • FIG. 16 Detailed view of twisted toy building blocks for the construction of wings with a typical tortuous wing profile.
  • FIG. 1 shows a plan view of a toy building block 1 according to the invention, which has a plurality of individual elements 4 in a chain-like structure.
  • the individual members 4 are interconnected by connections 5.
  • the type and structure of the chain structure give the game building block 1 different elasticities or restoring forces in different spatial directions.
  • the game module 1 can be connected to other, other game components of a game kit system, the game module 1 and devices 6 for connection, which may be a simple recess in the simplest case, there to insert another form-fitting game module.
  • the device 6 for connecting a profiled recess and as in the example shown has the shape that is pronounced of a medal cross.
  • FIG. 1 shows the modulus of elasticity E acting in the direction of the linear chain line as well as the shear modulus G acting perpendicularly to the linear chain line, that is to say in a right angle to the chain line direction. It is provided that the restoring force in the direction of the shear modulus G is significantly lower than the restoring force in the direction of the modulus of elasticity E.
  • the chain-shaped, oval-shaped cutout A is shown below the chain line as a detail enlargement A.
  • the individual members 4 have a mean diameter 10 and a recurring distance 9.
  • the average diameter 10 of a single member 4 is about as large as the recurring distance 9 of two adjacent individual members 4.
  • the compound between two individual members 4 is constricted or waisted at least but it has a significantly lower volume of material volume than the individual members 4 itself, wherein the material circumference volume includes the volume of the recess 7 with. Due to the type and shape of the sidecut the different elasticity ratio in the different spatial directions can be controlled.
  • the game module 1 of Figure 1 according to the invention is sketched in a perspective view.
  • the individual members 4 have a substantially cylindrical outer shape, which by means of a web as connection 5 mitei- are connected to each other.
  • the height-width ratio of a single member 4 corresponds approximately to a cubic spatial form, wherein the width is slightly shorter than the height to give the web as compound 5 space.
  • the measure is given, which corresponds to the distance 9 and related to the game module 1 spatial directions are located.
  • the direction mentioned above in the linear chain line corresponds to the spatial direction of the elastic modulus E
  • a first direction perpendicular to the linear chain line is the direction of the shear modulus G
  • a second direction perpendicular to the linear chain line is the direction of the shear modulus G '. It is provided according to the invention that the restoring force along the elastic modulus E is the highest, followed by the restoring force in the direction of the shear modulus G 'and this followed by the restoring force of the shear modulus G.
  • FIG. 3 shows a construction from a toy building block 1 according to the invention, which is shown here as a ball chain for the sake of simplicity.
  • a toy building block 1 which is shown here as a ball chain for the sake of simplicity.
  • two substantially identical toy building blocks 1 are connected together in a triangular shape by four transverse struts QS1, QS2, QS3 and QS4.
  • a lateral shear stress as indicated by directional arrow S, deforms the fin flowing in from below, as indicated by the directional arrow V.
  • the deformation in the direction of the arrow V thus acts as an antagonistic movement.
  • each one here shown as a fin structure forms a forceps member that engages an element to be gripped, such as an apple or an egg.
  • the shape of the sensitive object, the apple or the egg leads to a cautious but quite firm transformation. Closure of the gripped object, whereby the toy building block according to the invention is also suitable for building a bionic robot gripper.
  • FIG. 4 shows how the toy building block 1 according to the invention, represented here by three individual elements 4, behaves at a shear stress.
  • the length of the chain extension of the three individual elements 4 undergoes an apparent shortening due to the type of bending of the webs as connection 5 between the individual elements 4.
  • the complete arc length BL which corresponds to the length L of the three individual members 4
  • the actual arc length BL ' seems to be shortened under a shear stress. This is due to the fact that the webs bend much stronger than compounds 5 as it would correspond to the deformation of a uniformly shaped component. As a result, the centers of the individual elements, which hardly follow even the deformation, moved closer to each other. This shortening means that the triangular shape in FIG.
  • the game module 1 can be cut from the solid, created by laser ablation or produced in a larger series by injection molding.
  • the toy building block 1 can be made of different elements, which consist of the same or different materials.
  • a thermoplastic material is laid with elastic properties as a filament.
  • the filament is placed to different coil-shaped individual elements 4 and thereby thermoplastically slightly deformed under sintering or fusion.
  • the filament for 3D printing is laid around the single elements 4 in two meandering windings 13 and 13 'as shown in FIG. The position of the 3D printing filament as a meandering winding 13 and 13 'is shown in perspective in FIG.
  • the individual elements 4 have a recess 7, here in the form of a star-shaped cavity and are wound by two opposite, meandering windings.
  • the filaments fuse together, so that at the end of the manufacturing process results in the game module, as shown in Figure 2. Since the filament for the 3D printing as the stretched material has predetermined elasticities in the filament direction and transverse thereto, by this laying of the filament, it is allowed that the predetermined properties of the filament can also be selectively employed.
  • lips 14 may be provided to increase the friction, which can hold another game building block therein.
  • an optional thread 15 is shown in that similar to the thread fragments of a known thread cutter is formed. In the present form, however, the thread 15 is not intended as a cutting thread, but as a corresponding screw receiving thread to attach another, another game module therein.
  • FIG. 8 the bending in the direction of the shear modulus G 'according to FIG. 2 is illustrated.
  • the restoring force in the direction of the shear modulus G ' should lie between the restoring force in the direction of the shear modulus G according to FIG. 2 and the elastic modulus E.
  • FIG. 9 shows the bending in the direction of the shear modulus G according to FIG.
  • the deformability should be greatest in the direction of the shear modulus G, so have the least return force.
  • the low restoring force allows the game module 1 in the direction of the shear modulus G to exhibit a strong elastic deformation, which is uniform or at least harmonious and without local deformations, the toy block so not like a kink in a rope and not in the manner of a fold deformed ,
  • FIG. 10 shows more clearly the dynamics of a fin-type construction according to FIG. 3 in different states.
  • the fin principle is illustrated here.
  • the substantially triangular structure forms a roof-shaped triangle.
  • the triangle begins to bend antagonistically against the lateral force. If the force F2 becomes stronger, the antagonistic inclination becomes stronger until the desired effect of the bionic gripper finally sets in with a laterally acting set force F3 and the triangle aligns its tip against the force effect.
  • FIG. 11 shows a torsional stress of the toy building block in three states.
  • the torsion of the game module is about 90 °. Even in the middle state, the torsion is about 315 °.
  • the toy block behaves as a harmonic bending the, that is not kink training, wrinkles or jump points forming toy building block.
  • FIG. 12.1 shows an example of a concrete construction of a pincer-like fin gripper from the toy building blocks according to the invention in a state embracing a sensitive object (sphere, egg).
  • the gripping state is achieved by manual compression against the restoring forces of the built game blocks.
  • Figure 12.2 the structure of Figure 12.1 is shown in the relaxed state.
  • the sensitive object sphere, egg
  • FIG. 13 shows an example of a concrete construction of a threefold finned gripper from toy building blocks in a gripping state encompassing a sensitive object.
  • the mode of operation is given as in FIG. 12.1 / FIG. 12.2, but here three individual, fin-like grippers act, which embrace a ball safely.
  • FIG. 14 shows the toy building block in a non-functional, but in a static, creative use.
  • the type of restoring forces due to the different shear modules G and G 'and elastic modulus E allow the structure of the profile of a dragonfly wing.
  • FIG. 15 a structure of a toy fly with elastic wings of the game blocks according to the invention is shown as an example, which may have twisted or not twisted wings in the manner of a wing profile.
  • FIG. 16 shows a detailed view of the twisted toy building block from the construction in FIG. 15. Together with other rigid elements that are included in the game module, the game module according to the invention forms the profile under its own twist. LIST OF REFERENCE NUMBERS

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un bloc de jeu (1) pour la fabrication d'une structure élastique (2), comportant une pluralité d'au moins trois éléments individuels (4) en forme de maillons successifs. Selon l'invention, la liaison (5) entre les éléments individuels (4) présente une force de rappel par rapport à l'élasticité de flexion (module de poussée G) inférieure à une force de rappel par rapport à l'élasticité de traction (module d'élasticité E). Le bloc de jeu selon l'invention permet de fabriquer une griffe, un aileron ou une articulation de cheville fonctionnant selon le principe bionique.
PCT/DE2015/000501 2014-10-13 2015-10-13 Bloc pour la fabrication de structures élastiques WO2016058578A1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
US15/518,516 US20170232356A1 (en) 2014-10-13 2015-10-13 Component for producing elastic elements
EP15813247.2A EP3206770B1 (fr) 2014-10-13 2015-10-13 Bloc pour la fabrication de structures élastiques
DK15813247.2T DK3206770T3 (da) 2014-10-13 2015-10-13 Modul til opbygning af elastiske elementer
KR1020197027266A KR102332914B1 (ko) 2014-10-13 2015-10-13 탄성 구조물의 구성을 위한 조립 요소
KR1020177012973A KR20170067883A (ko) 2014-10-13 2015-10-13 탄성 구조물의 구성을 위한 조립 요소
CN201580055677.8A CN106999787B (zh) 2014-10-13 2015-10-13 用于构建弹性结构的建造元件
BR112017007553-9A BR112017007553B1 (pt) 2014-10-13 2015-10-13 Elemento de desenvolvimento de brinquedo para construção de uma estrutura flexível, e conjunto de, pelo menos, um elemento de desenvolvimento de brinquedo
CA2964500A CA2964500C (fr) 2014-10-13 2015-10-13 Bloc pour la fabrication de structures elastiques
CL2017000943A CL2017000943A1 (es) 2014-10-13 2017-04-17 Componente para producir elementos elásticos.

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102014014891.2A DE102014014891A1 (de) 2014-10-13 2014-10-13 Baustein zum Aufbau elastischer Elemente
DE202014008653.2U DE202014008653U1 (de) 2014-10-13 2014-10-13 Baustein zum Aufbau elastischer Elemente
DE202014008653.2 2014-10-13
DE102014014891.2 2014-10-13

Publications (1)

Publication Number Publication Date
WO2016058578A1 true WO2016058578A1 (fr) 2016-04-21

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2015/000501 WO2016058578A1 (fr) 2014-10-13 2015-10-13 Bloc pour la fabrication de structures élastiques

Country Status (9)

Country Link
US (1) US20170232356A1 (fr)
EP (1) EP3206770B1 (fr)
KR (2) KR20170067883A (fr)
CN (2) CN110721485A (fr)
BR (1) BR112017007553B1 (fr)
CA (1) CA2964500C (fr)
CL (1) CL2017000943A1 (fr)
DK (1) DK3206770T3 (fr)
WO (1) WO2016058578A1 (fr)

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WO2020088741A1 (fr) * 2018-10-30 2020-05-07 Siemens Aktiengesellschaft Doigt de préhension comprenant des éléments d'espacement courbés ainsi que dispositif de préhension adaptatif
CN109249415B (zh) * 2018-12-03 2021-03-30 吉林大学 一种基于仿生应变传感器阵列感知的柔性机械手
USD983275S1 (en) * 2023-01-16 2023-04-11 Ruixiong Huang Spinning toy

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DK3206770T3 (da) 2019-06-24
EP3206770B1 (fr) 2019-03-20
CL2017000943A1 (es) 2018-03-09
BR112017007553A2 (pt) 2018-02-06
EP3206770A1 (fr) 2017-08-23
CN110721485A (zh) 2020-01-24
KR102332914B1 (ko) 2021-11-29
BR112017007553B1 (pt) 2022-05-31
CA2964500C (fr) 2020-07-14
CN106999787B (zh) 2020-01-17
CA2964500A1 (fr) 2016-04-21
CN106999787A (zh) 2017-08-01

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